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ZwX1616 1 year ago
parent b02a0e19db
commit 1d574673a1
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  1. 196
      selfdrive/test/process_replay/test_debayer.py

196
selfdrive/test/process_replay/test_debayer.py
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#!/usr/bin/env python3
import os
import sys
import bz2
import numpy as np
import pyopencl as cl # install with `PYOPENCL_CL_PRETEND_VERSION=2.0 pip install pyopencl`
from openpilot.system.hardware import PC, TICI
from openpilot.common.basedir import BASEDIR
from openpilot.tools.lib.openpilotci import BASE_URL
from openpilot.common.git import get_commit
from openpilot.system.camerad.snapshot.snapshot import yuv_to_rgb
from openpilot.tools.lib.logreader import LogReader
from openpilot.tools.lib.filereader import FileReader
TEST_ROUTE = "8345e3b82948d454|2022-05-04--13-45-33/0"
FRAME_WIDTH = 1928
FRAME_HEIGHT = 1208
FRAME_STRIDE = 2896
UV_WIDTH = FRAME_WIDTH // 2
UV_HEIGHT = FRAME_HEIGHT // 2
UV_SIZE = UV_WIDTH * UV_HEIGHT
def get_frame_fn(ref_commit, test_route, tici=True):
return f"{test_route}_debayer{'_tici' if tici else ''}_{ref_commit}.bz2"
def bzip_frames(frames):
data = b''
for y, u, v in frames:
data += y.tobytes()
data += u.tobytes()
data += v.tobytes()
return bz2.compress(data)
def unbzip_frames(url):
with FileReader(url) as f:
dat = f.read()
data = bz2.decompress(dat)
res = []
for y_start in range(0, len(data), FRAME_WIDTH * FRAME_HEIGHT + UV_SIZE * 2):
u_start = y_start + FRAME_WIDTH * FRAME_HEIGHT
v_start = u_start + UV_SIZE
y = np.frombuffer(data[y_start: u_start], dtype=np.uint8).reshape((FRAME_HEIGHT, FRAME_WIDTH))
u = np.frombuffer(data[u_start: v_start], dtype=np.uint8).reshape((UV_HEIGHT, UV_WIDTH))
v = np.frombuffer(data[v_start: v_start + UV_SIZE], dtype=np.uint8).reshape((UV_HEIGHT, UV_WIDTH))
res.append((y, u, v))
return res
def init_kernels(frame_offset=0):
ctx = cl.create_some_context(interactive=False)
with open(os.path.join(BASEDIR, 'system/camerad/cameras/real_debayer.cl')) as f:
build_args = ' -cl-fast-relaxed-math -cl-denorms-are-zero -cl-single-precision-constant' + \
f' -DFRAME_STRIDE={FRAME_STRIDE} -DRGB_WIDTH={FRAME_WIDTH} -DRGB_HEIGHT={FRAME_HEIGHT} -DFRAME_OFFSET={frame_offset} -DCAM_NUM=0'
if PC:
build_args += ' -DHALF_AS_FLOAT=1 -cl-std=CL2.0'
debayer_prg = cl.Program(ctx, f.read()).build(options=build_args)
return ctx, debayer_prg
def debayer_frame(ctx, debayer_prg, data, rgb=False):
q = cl.CommandQueue(ctx)
yuv_buff = np.empty(FRAME_WIDTH * FRAME_HEIGHT + UV_SIZE * 2, dtype=np.uint8)
cam_g = cl.Buffer(ctx, cl.mem_flags.READ_ONLY | cl.mem_flags.COPY_HOST_PTR, hostbuf=data)
yuv_g = cl.Buffer(ctx, cl.mem_flags.WRITE_ONLY, FRAME_WIDTH * FRAME_HEIGHT + UV_SIZE * 2)
local_worksize = (20, 20) if TICI else (4, 4)
ev1 = debayer_prg.debayer10(q, (UV_WIDTH, UV_HEIGHT), local_worksize, cam_g, yuv_g)
cl.enqueue_copy(q, yuv_buff, yuv_g, wait_for=[ev1]).wait()
cl.enqueue_barrier(q)
y = yuv_buff[:FRAME_WIDTH*FRAME_HEIGHT].reshape((FRAME_HEIGHT, FRAME_WIDTH))
u = yuv_buff[FRAME_WIDTH*FRAME_HEIGHT:FRAME_WIDTH*FRAME_HEIGHT+UV_SIZE].reshape((UV_HEIGHT, UV_WIDTH))
v = yuv_buff[FRAME_WIDTH*FRAME_HEIGHT+UV_SIZE:].reshape((UV_HEIGHT, UV_WIDTH))
if rgb:
return yuv_to_rgb(y, u, v)
else:
return y, u, v
def debayer_replay(lr):
ctx, debayer_prg = init_kernels()
frames = []
for m in lr:
if m.which() == 'roadCameraState':
cs = m.roadCameraState
if cs.image:
data = np.frombuffer(cs.image, dtype=np.uint8)
img = debayer_frame(ctx, debayer_prg, data)
frames.append(img)
return frames
if __name__ == "__main__":
update = "--update" in sys.argv
replay_dir = os.path.dirname(os.path.abspath(__file__))
ref_commit_fn = os.path.join(replay_dir, "debayer_replay_ref_commit")
# load logs
lr = list(LogReader(TEST_ROUTE))
# run replay
frames = debayer_replay(lr)
# get diff
failed = False
diff = ''
yuv_i = ['y', 'u', 'v']
if not update:
with open(ref_commit_fn) as f:
ref_commit = f.read().strip()
frame_fn = get_frame_fn(ref_commit, TEST_ROUTE, tici=TICI)
try:
cmp_frames = unbzip_frames(BASE_URL + frame_fn)
if len(frames) != len(cmp_frames):
failed = True
diff += 'amount of frames not equal\n'
for i, (frame, cmp_frame) in enumerate(zip(frames, cmp_frames, strict=True)):
for j in range(3):
fr = frame[j]
cmp_f = cmp_frame[j]
if fr.shape != cmp_f.shape:
failed = True
diff += f'frame shapes not equal for ({i}, {yuv_i[j]})\n'
diff += f'{ref_commit}: {cmp_f.shape}\n'
diff += f'HEAD: {fr.shape}\n'
elif not np.array_equal(fr, cmp_f):
failed = True
if np.allclose(fr, cmp_f, atol=1):
diff += f'frames not equal for ({i}, {yuv_i[j]}), but are all close\n'
else:
diff += f'frames not equal for ({i}, {yuv_i[j]})\n'
frame_diff = np.abs(np.subtract(fr, cmp_f))
diff_len = len(np.nonzero(frame_diff)[0])
if diff_len > 10000:
diff += f'different at a large amount of pixels ({diff_len})\n'
else:
diff += 'different at (frame, yuv, pixel, ref, HEAD):\n'
for k in zip(*np.nonzero(frame_diff), strict=True):
diff += f'{i}, {yuv_i[j]}, {k}, {cmp_f[k]}, {fr[k]}\n'
if failed:
print(diff)
with open("debayer_diff.txt", "w") as f:
f.write(diff)
except Exception as e:
print(str(e))
failed = True
# upload new refs
if update or (failed and TICI):
from openpilot.tools.lib.openpilotci import upload_file
print("Uploading new refs")
frames_bzip = bzip_frames(frames)
new_commit = get_commit()
frame_fn = os.path.join(replay_dir, get_frame_fn(new_commit, TEST_ROUTE, tici=TICI))
with open(frame_fn, "wb") as f2:
f2.write(frames_bzip)
try:
upload_file(frame_fn, os.path.basename(frame_fn))
except Exception as e:
print("failed to upload", e)
if update:
with open(ref_commit_fn, 'w') as f:
f.write(str(new_commit))
print("\nNew ref commit: ", new_commit)
sys.exit(int(failed))
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